Delta AX Series Instruction Manual page 9

AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l
Multi-execution of motion control instructions means that multiple instructions on the same axis are run in the same
task execution period. The pattern of multi-execution is defined by the input variable BufferMode, specified to blend the
two motions. Therefore, the instruction at the back will determine the behavior of the previous instruction according to
BufferMode. Refer to AX-3 Series Operation Manual for more details.
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Buffer Modes
Some motion instructions have an input called BufferMode.You can execute a different instruction instance during axis
motion when the values for BufferMode are specified. This input decides whether the instruction runs immediately
(non-buffered mode) or waits till the current motion instruction sets its status outputs.
(Done/InVelocity/InPosition, etc.)
BufferMode determines the behavior to combine the axis motions for this instruction and the previous instruction. When the
instruction is run;
- The selected buffer mode is valid if the previous instruction is running.
- The selected buffer mode is invalid if the axis is in a Standstill state.
- The following Buffer Modes are supported.
Buffer Mode
0: Aborting
1: Buffered
2: BlendingLow
3: BlendingPrevious
4: BlendingNext
5: BlendingHigh
Refer to AX-3 Series Operation Manual for more details on buffer mode.
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Structure Applicable for Motithe on Control
In PLCopen technical standard, the information and parameters required for configuring motion control on an axis are
defined in a Structure.
For AX Motion CPUs, a Structure is a Data Type applicable to group the data elements together, which is easier for
users to specify proper parameters.
For AX Motion CPUs, the applicable Structure is as below:
Aborts the ongoing motion. The next instruction takes effect immediately.
Automatically runs the next instruction after the ongoing motion is completed.
The lower target velocity is the transit velocity between the current and the buffered instructions.
(The transit velocity is the velocity that the current instruction uses as the transit point.)
Takes the target velocity of the current instruction as the transit velocity.
Takes the target velocity of the buffered instruction as the transit velocity.
Takes the higher target velocity as the transit velocity between the current instruction
and the buffered instruction.
Function
Ch a p t er 1
4